CN109677627A - It is tethered at unmanned plane precision approach control system and method - Google Patents
It is tethered at unmanned plane precision approach control system and method Download PDFInfo
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- CN109677627A CN109677627A CN201910025889.1A CN201910025889A CN109677627A CN 109677627 A CN109677627 A CN 109677627A CN 201910025889 A CN201910025889 A CN 201910025889A CN 109677627 A CN109677627 A CN 109677627A
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- tethered
- unmanned plane
- control
- height
- landing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
One kind being tethered at unmanned plane precision approach control system and method, the system includes: to be tethered at cable, tension sensor, be tethered at take-up motor, control circuit, UAV Flight Control module and laser altimeter, the control method, a key lands in such a way that circulation split-level carries out error correction.Using being tethered at, unmanned plane cable bonding wire cable pulling force controls the present invention, flight control modules and unmanned plane technique of real-time control realize the high-precision landing for being tethered at unmanned plane on chain-wales by multiple-error correction.Under the premise of the present invention is independent of global position systems such as GPS, reduce landing platform area, what realization really can be portable is tethered at UAV system.It improves and is tethered at the reliability and safety of unmanned plane in practical applications.
Description
Technical field
It is specifically a kind of to be tethered at unmanned plane precision approach control the present invention relates to a kind of technology in flying vehicles control field
System and method processed.
Background technique
Being tethered at unmanned plane is typically all to rely on GPS or other satellite positionings to realize positioning, especially when landing, nothing
Method realizes high accuracy positioning landing.Therefore, either unmanned plane is either tethered at unmanned plane, as long as assisting determining by satellite
Position can not all be realized in the region of small area and stablize landing.Due to These characteristics, lead to be tethered at the landing platform of unmanned plane not
Can be too small, so that being tethered at UAV system also and cannot achieve with landing platform is portable.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, propose one kind be tethered at unmanned plane precision approach control system and
Method, using being tethered at, the control of unmanned plane cable bonding wire cable pulling force, flight control modules and unmanned plane technique of real-time control are logical
Multiple error correction is crossed to realize the high-precision landing for being tethered at unmanned plane on chain-wales.The present invention is independent of satellites such as GPS
Under the premise of positioning system, reduce landing platform area, what realization really can be portable is tethered at UAV system.It improves and is tethered at nothing
Man-machine reliability and safety in practical applications.
The present invention is achieved by the following technical solutions:
The present invention relates to one kind to be tethered at unmanned plane precision approach control system, comprising: is tethered at cable, tension sensor, is tethered at
Take-up motor, control circuit, UAV Flight Control module and laser altimeter, in which: tension sensor acquires unmanned plane system
Real-time strain information on testing cable is simultaneously exported to control circuit, and control circuit issues control level to being tethered at take-up motor respectively
It carries out take-up and realizes adjusting in real time and control, issue flight directive control unmanned plane to UAV Flight Control module and determined
High, fixed point, dropping action, laser altimeter acquire unmanned plane elevation information and export to UAV Flight Control module so as to
Low latitude carries out high-precision height attitude rectification.
The present invention relates to the control method of above system, a key in such a way that circulation split-level carries out error correction
Landing, specifically includes:
Step 1) when aircraft landing is to the 1st level interval point h1 control circuit by flying control agreement (MAVLINK)
Control aircraft flight mode, which is changed into, determines height mode；For controller confirmation aircraft after determining height mode, control is tethered at take-up motor
Take-up at a slow speed is carried out, with the tightening for being tethered at cable, the tension on hawser can slowly increase, and aircraft can be slowly past after hawser tensioning
Line outlet is slided；Control circuit continues to reduce the revolving speed of take-up motor while passing through tension sensor real-time monitoring cable
Power, pulling force is kept a period of time t1, i.e. the s1 high-precision in the 1st stage of realization by system after cable strain increases to setting value F1
Landing amendment.
It is described to determine height mode height of getting off the plane and only according to laser altimeter carry out height-lock control, horizontal X Y-direction be for
Sliding mode, since the error of GPS, compass will appear the mistake of the horizontal direction error s1 of the XY axis in the estimated level point in the center of leaving
Difference, but system, after entering the fixed height of high-precision laser altimeter, the error of this h1 is less than or equal to 1cm.
The height of the height point h1 in the 1st stage is set as (general 10 in the effective range less than laser altimeter
Within rice).
Step 2) control circuit is tethered at unmanned plane landing instruction by flying control agreement (MAVLINK) sending, at this time unmanned plane
Descending motion will be carried out, the amendment of the 2nd stage is entered after unmanned plane drops to H2 height, i.e., control circuit is assisted again by winged control
View (MAVLINK) to be tethered at unmanned plane into height mode is determined, and repeatedly the correction of step step 1 positions to carry out rectifying for s2 again
Just.
Step 3) enters stage n after unmanned plane drops to Hn height and corrects, i.e., repeats step step 1) again and carry out n times
Amendment, is corrected by n times, and being tethered at unmanned plane and may eventually reach the top in estimated level point and the error apart from destination is Sn.
Step 4) control circuit issues unmanned plane landing order, while directly controlling and being tethered at take-up motor and carry out last receipts
Line pulls the landing amendment for carrying out error Sn, will finally be tethered at unmanned plane and be dragged to landing central point.
Technical effect
Compared with prior art, the present invention can greatly reduce under the premise of independent of global position systems such as GPS
It is tethered at the landing platform area of unmanned plane, to realize the integrated portable earth station for being tethered at unmanned plane, while improving and being
Stay the reliability and safety of unmanned plane in practical applications.
Detailed description of the invention
Fig. 1 is present system structural schematic diagram；
Fig. 2 is control flow schematic diagram of the present invention.
Specific embodiment
As shown in Figure 1, the one kind being related to for the present embodiment is tethered at unmanned plane precision approach control system, comprising: be tethered at cable,
0-15Kg tension sensor, 10Kg pulling force take-up module, control circuit, UAV Flight Control module, 0-7 meters of laser modules
(error 1cm).Wherein: 0-15Kg tension sensor acquisition unmanned plane is tethered on cable the real-time strain information within 15Kg and defeated
Out to control circuit, control circuit respectively to 10Kg pulling force take-up module issue control level carry out take-up realize adjust in real time with
It controls, and carries out fixed height to UAV Flight Control module sending flight directive control unmanned plane, pinpoints, dropping action, 0-7 meters
Laser module acquires unmanned plane elevation information and exports to UAV Flight Control module to carry out high-precision height in low latitude
Attitude rectification.
As shown in Fig. 2, being the control method of above system, unmanned plane landing state is divided into n amendment step, it is specific to wrap
It includes:
1. step is tethered at unmanned plane and carries out normal flight using fixed high, fixed point mode, aircraft longitude and latitude and height are passed through
Barometer, GPS, compass strictly plan in advance, aircraft up and down and direction all will not arbitrarily be slided.
2. unmanned plane uses a key landing mode to step, i.e., is landed using circulation split-level, specifically included:
2.1) when aircraft landing is to the 1st level interval point h1 control circuit by flying control agreement (MAVLINK) control
Aircraft flight mode processed, which is changed into, determines height mode；Controller confirmation aircraft be in determine height mode after, control be tethered at take-up motor into
Row take-up at a slow speed, with the tightening for being tethered at cable, the tension on hawser can slowly increase, and aircraft can be slowly toward out after hawser tensioning
Line mouth is slided；Control circuit continues to reduce the revolving speed of take-up motor while passing through tension sensor real-time monitoring cable
Power, pulling force is kept a period of time t1, i.e. the s1 high-precision in the 1st stage of realization by system after cable strain increases to setting value F1
Landing amendment.
It is described to determine height mode height of getting off the plane and only according to laser altimeter carry out height-lock control, horizontal X Y-direction be for
Sliding mode, since the error of GPS, compass will appear the mistake of the horizontal direction error s1 of the XY axis in the estimated level point in the center of leaving
Difference, but system, after entering the fixed height of high-precision laser altimeter, the error of this h1 is less than or equal to 1cm.
The height of the height point h1 in the 1st stage is set as (general 10 in the effective range less than laser altimeter
Within rice).
2.2) control circuit is tethered at unmanned plane landing instruction by flying control agreement (MAVLINK) sending, and unmanned plane will at this time
Descending motion is carried out, the amendment of the 2nd stage is entered after unmanned plane drops to H2 height, i.e., control circuit is again by winged control agreement
(MAVLINK) to be tethered at unmanned plane into height mode is determined, repeatedly the correction of step 2.1 positions to carry out the correction of s2 again.
2.3) enter stage n after unmanned plane drops to Hn height to correct, i.e., repeat step 2.1) progress n times again and repair
Just, it is corrected by n times, being tethered at unmanned plane and may eventually reach the top in estimated level point and the error apart from destination is Sn.
2.4) control circuit issues unmanned plane landing order, while directly controlling and being tethered at take-up motor and carry out last take-up
The landing amendment for carrying out error Sn is pulled, unmanned plane will be finally tethered at and be dragged to landing central point.
N is 3 in the present embodiment.
When unmanned plane height does not change, aircraft for landing mode, pulling force maintain setting value F1, meet this 3 conditions
Later system can think to complete entire descent.
This method can be tethered under the premise of independent of global position systems such as GPS by multiple correction to realize
The automatic, high precision of unmanned plane lands, and reduces the risk of manual operation, reduces landing platform area, realization really can be portable
It is tethered at UAV system, improves and is tethered at the reliability and safety of unmanned plane in practical applications.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (5)
1. one kind is tethered at unmanned plane precision approach control system characterized by comprising be tethered at cable, tension sensor, be tethered at receipts
Line motor, control circuit, UAV Flight Control module and laser altimeter, in which: tension sensor acquisition unmanned plane is tethered at
Real-time strain information on cable is simultaneously exported to control circuit, control circuit respectively to be tethered at take-up motor issue control level into
Row take-up is realized to be adjusted and control in real time, to UAV Flight Control module issue flight directive control unmanned plane carry out it is fixed high,
Fixed point, dropping action, laser altimeter acquire unmanned plane elevation information and export to UAV Flight Control module so as to low
Sky carries out high-precision height attitude rectification.
2. a kind of control method of system according to claim 1, which is characterized in that missed by recycling split-level
Modified one key of the mode landing of difference, specifically includes:
Step 1) when aircraft landing is to the 1st level interval point h1 control circuit by flying control protocol integrated test system aircraft flight mould
Formula, which is changed into, determines height mode；After determining height mode, control is tethered at take-up motor and carries out take-up at a slow speed controller confirmation aircraft, with
Be tethered at the tightening of cable, the tension on hawser can slowly increase, and aircraft can be slided slowly toward line outlet after hawser tensioning；
Control circuit continues to reduce the revolving speed of take-up motor while passing through tension sensor real-time monitoring cable strain, when cable strain increases
System corrects pulling force holding a period of time t1, i.e. the s1 high-precision landing in the 1st stage of realization after being added to setting value F1；
Step 2) control circuit is tethered at unmanned plane landing instruction by flying control agreement sending, and unmanned plane will carry out decline fortune at this time
It is dynamic, the amendment of the 2nd stage is entered after unmanned plane drops to H2 height, i.e., control circuit to be tethered at nothing again by winged control agreement
Height mode is determined in man-machine entrance, and repeatedly the correction of step step 1 positions to carry out the correction of s2 again；
Step 3) enters stage n after unmanned plane drops to Hn height and corrects, i.e., repeats step step 1) progress n times again and repair
Just, it is corrected by n times, being tethered at unmanned plane and may eventually reach the top in estimated level point and the error apart from destination is Sn；
Step 4) control circuit issues unmanned plane landing order, while directly controlling to be tethered at take-up motor and carry out last take-up and drag
The landing amendment for carrying out error Sn is dragged, unmanned plane will be finally tethered at and be dragged to landing central point.
3. according to the method described in claim 2, it is characterized in that, it is described to determine height mode and get off the plane height only according to laser elevation
Meter carries out height-lock control, and horizontal X Y-direction is to expect for sliding mode since the error of GPS, compass will appear the center of leaving
The error of the horizontal direction error s1 of the XY axis in level point.
4. according to the method described in claim 2, it is characterized in that, the height of the height point h1 in the 1st stage is set as small
In in the effective range of laser altimeter.
5. according to the method described in claim 2, it is characterized in that, the height of the height point h1 in the 1st stage is less than 10 meters.
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| CN201910025889.1A CN109677627B (en) | 2019-01-11 | 2019-01-11 | System and method for controlling accurate landing of tethered unmanned aerial vehicle |
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| CN201910025889.1A CN109677627B (en) | 2019-01-11 | 2019-01-11 | System and method for controlling accurate landing of tethered unmanned aerial vehicle |
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| CN109677627B CN109677627B (en) | 2021-12-21 |
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| CN112158683A (en) * | 2020-09-29 | 2021-01-01 | 西安应用光学研究所 | Automatic winding and unwinding device and method for photoelectric composite cable of miniaturized mooring unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111458060A (en) * | 2019-05-16 | 2020-07-28 | 北京理工大学 | Mooring cable traction tension vector measuring mechanism of mooring unmanned aerial vehicle |
| CN110703786A (en) * | 2019-10-22 | 2020-01-17 | 西安应用光学研究所 | Staying rotor platform retraction controller and method |
| CN110703786B (en) * | 2019-10-22 | 2022-12-27 | 西安应用光学研究所 | Mooring rotor wing platform retraction controller and method |
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| CN111190435A (en) * | 2019-12-31 | 2020-05-22 | 湖南优加特装智能科技有限公司 | Flight control system and control method for mooring unmanned aerial vehicle |
| CN112158683A (en) * | 2020-09-29 | 2021-01-01 | 西安应用光学研究所 | Automatic winding and unwinding device and method for photoelectric composite cable of miniaturized mooring unmanned aerial vehicle |
| CN113671972A (en) * | 2021-07-02 | 2021-11-19 | 深圳市视晶无线技术有限公司 | Long-endurance mooring unmanned aerial vehicle control device |
| CN114355984A (en) * | 2022-03-18 | 2022-04-15 | 北京卓翼智能科技有限公司 | Control method, control device, controller and storage medium for mooring unmanned aerial vehicle |
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